JPH01303185A - Sewing device - Google Patents

Abstract

PURPOSE:To easily make a body supporting body and a sleeve supporting body respond to dimension changes in a body and a sleeve by retracting the tip part of a body bar in the external part of a moving path when a cylinder is operated, returning the tip part to the internal part of the moving path when the cylinder is not operated, and executing enlargement and reduction accompanying the moving of an arm hole link base at the time of the returning. CONSTITUTION:A motor 50 is driven, and a body supporting body 22 is rotated at 180 deg. in a clockwise direction at a point where the positioning of a right sleeve side completes, and left sleeve sewing work completes. At this position, a right sleeve is sewed by a robot in the same manner. At the same time when sewing work is started, a sleeve bar 60 descends up to a previously set position by the inversion of a motor 70, and sleeve supporting bodies 24L and 24R rotate so as to oppose to a worker side 21 like the sleeve supporting body 24R by the rotation of a motor 96. Further, at the same time, the sleeve bar 60 also moves in a direction to approach the worker side 21 by the rotation of a motor 80. Therefore, an operator can install sleeves in the right and left sleeve supporting bodies for the next process during the sewing work by the robot.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to three-dimensional sewing of suits, blazers, etc., and more particularly to a method and apparatus for automatically, accurately and quickly positioning a body and sleeves at appropriate sewing positions.

The body (Fig. 12) and sleeves (Fig. 13) were processed as parts using conventional technology.
The same applicant previously announced a fabric support device C for supporting the body and sleeves as shown in FIG. 11 (Japanese Patent Application No. 61-170886-7) as a sleeve attaching device for three-dimensionally stitching the fabric (see Fig. 11). In this support device C, the sleeve B is inserted from the cuff portion into the left and right umbrella-like sleeve support portions that can be contracted and expanded. At this time, the sleeve support section is in a contracted and closed state. Next, the support portion is expanded as shown in FIG. 11, and the shoulder opening of the sleeve B is forcibly held.

Adjust the position of the body support part E up and down with respect to the sleeve support part,
Stops at the appropriate position. Thereafter, the body A is attached to the body support part E of the support device C. The sleeves and body are three-dimensionally sewn using an articulated robot F equipped with a small sewing machine at its tip.

Problems that the invention aims to solve The three-dimensional sewing described above had the following problems.

■ The sleeve support part has a complicated umbrella-like structure, and the sleeve B
is inserted from the cuff. For this reason, the peripheral length of the distal end of the support portion must be reduced to a size smaller than 1 in the contracted and closed state in which the cuff portion is received, as in the expanded state in which the sleeve is supported under tension. Since such large contraction/expansion deformation is required, the strength of each support bar constituting the support portion is weakened, and the support position of the sleeve becomes inaccurate.

(2) Since the sleeve support portion must contract to a small extent when the sleeve is contracted and opened, it is not possible to widen the support surface of each support bar supporting the sleeve B, making the sleeve support state (especially near the seam line) unstable.

■ Since the entire sleeve support portion becomes longer, it takes longer to insert sleeve B.

- The support bars of the sleeve support section and the body support section E perform different movements in response to changes in the dimensions of the sleeve and body. For this reason, it is not possible to properly install the lamp mechanism, and it is difficult to fit the sleeves and body to each support section.

■ Since the sleeve positioning time is directly added to the cycle time, the total cycle time becomes longer.

■ Since the sleeve support part and the body support part are moved relative to each other in the vertical direction and brought together at the appropriate position, it takes time to bring them together.

■ After the sleeve support part and body support part are combined at the appropriate position, the sewing bot performs the sewing work. The operator has nothing to do during this time. Therefore, there is too much gap time between the actuation of device C and the actuation of the operator, increasing the overall cycle time.

■ In order to keep the sleeves taut, multiple support bars must be driven independently, and therefore each support bar must be provided with a motor. This makes the structure of the device complicated and expensive. Furthermore, the position of each support bar must be taught individually, which takes time.

Means for Solving the Problems In the present invention, in order to solve the above problems, in order to quickly and reliably evacuate the body bar of the body support body out of the system when the sleeve support body moves toward the body support body side, a cylinder is provided. and an actuating plate and interlocking link for transmitting the operation of the cylinder.

In order to support the sleeve, a sleeve support bar that supports the inner surface of the sleeve, and a sleeve support surface and clamp needle that support the outer surface of the sleeve are provided on the sleeve support and the body support, respectively.

This allows the sleeve to be reliably supported from both its inner and outer surfaces.

Furthermore, the sleeve support function is designed to hold only the shoulder openings of the sleeves.

Further, the sleeve bar and body bar are constructed by substantially the same mechanism, so that their relative positional relationship can always be maintained constant despite changes in their dimensions.

Operation: The sleeve with its long circumferential shoulder portion attached to the sleeve support is transferred through the shortest distance to the body support. The body support receives the sleeve in expanded tension from the sleeve support. The body is attached to the body support in the inside-out state, and the body and sleeves are sewn. The body support and the sleeve support easily respond to changes in body and sleeve dimensions.

Embodiment FIG. 1 is a schematic diagram of the fabric supporting device 20 of the present invention as viewed from the operator's side. This device 20 includes a body support 22 in the center, a pair of sleeve supports 24R and 24L on both sides, and a base 2 that supports these supports.
It consists of 6 and. In the figure, the sleeve supports shown on the right and left sides of the body support 22 serve to support the left sleeve and right sleeve, respectively, and are therefore referred to as a left sleeve support 24L and a right sleeve support 24R, respectively.

The body support 22 has a body support shaft 3 extending upward.
has 0. The lower end of this shaft 30 is attached to the upper end of the body support base 28 via a support plate 27. This body support base 28 has a block shape with a rectangular cross section. A large-diameter spur gear 46 is provided below the several gears 28. The stand 28 is fixed to the large gear 46 so as to extend in the diametrical direction of the gear 46 (see FIG. 7). This large gear 46 is attached to a shaft 47 that is rotatably supported and held by a fixed base 48 fixed to the base 26. A motor support stand 54 is also attached to the base 26, and a body rotation motor 50 is mounted on this support stand 54. A small gear 52 is attached to the output shaft of the motor 50, and the small gear 52 is screwed into the large gear 46, so that the rotation of the motor 50 allows the body support 22 to rotate around the shaft 47.

On the other hand, a machine frame 104 (Fig. 2.3.5) is attached to the upper part of the shaft 30 so as to extend in the horizontal direction. A support portion 32 for supporting the vicinity of the collar of the body A is attached to the machine frame 104 at a portion corresponding to the axis a of the shaft 47. In the lower part of the support part 32, on both sides of the machine frame 104, body bars 34a to 34 consisting of, for example, eleven body bars 36a to 36k are disposed in a generally horseshoe shape when viewed from the side, opposing the sleeve supports 24L and 24R. It is set up. Note that the shaft 30
A plurality of air cylinders 38, 40 are attached above the support plate 27, and an outer casing 42, 44 is attached to each air cylinder 38, 40. In addition, vacuum pipes 56 and 58 are installed at the bottom of the fixed base 48 below the shaft 47.
are attached and these tubes communicate with a vacuum source (not shown).

Since the left and right sleeve supports 24R and 24L have substantially the same structure and are only oriented in opposite directions, only one sleeve support 24L will be described below. The support body 24L has, for example, eleven sleeve bars 60a to 60k arranged in a generally horseshoe shape opposite to the body bars 34a to 34k. These sleeve bars are attached to a sleeve bar movable base 64 via a sleeve bar link plate 142 and a sleeve bar link base 62. Several units 64 support a guide shaft 66 and a ball screw 68. A pole nut 134 fixed to the base 64 is screwed into the screw 68. A motor 70 is attached to the lower end of the ball screw 68 via a retaining plate 67. As a result, when the motor 70 rotates, the ball screw 68 rotates, and the sleeve bar movable base 64 is guided by the guide shaft 66 and can move up and down together with the sleeve bars 60a to 60. The upper ends of the guide shaft 6G and the ball screw 68 are supported by a plate 69. A guide shaft 66 and the like on the sleeve bar Boa~60 are supported by a sleeve support shaft 72. The lower end of the shaft 72 is connected to the moving table 7.
It is fixed to 4. On the other hand, several units 74 are sleeve support units 76
It is guided and supported by a linear guide rail 78 held by a support plate 77 fixed to the support plate 77 . Further, a sleeve moving motor 80 is fixed to the sleeve support base 76, and a bevel gear 82 is fixed to the motor 80. The gear 82 engages a bevel gear 86 attached to the end of a ball screw 84. Further, a pole nut 85 screwed into the screw 84 is attached to the moving table 74. This results in
When the motor 80 rotates, the moving table 74 moves left and right on the rails 78.

The sleeve support base 76 has a large-diameter spur gear 9o at the bottom,
The gear 90 is pivotally supported via a shaft 91 to a base 88 whose lower end is supported on the base 26 . Further, the gear 90 is engaged with a small diameter spur gear 92. This small diameter gear 92 is attached to a motor 96 supported by a motor support stand 94 whose lower end is fixed to the base 26 .

As a result, when the motor 96 rotates, the sleeve support base 76 and the sleeve support 24L rotate together around the shaft 91 on the base 88. Note that the reference numeral 98 is a vacuum tube, and the reference numeral 100 is a vacuum tube.
is a frame constituting the base 26. This fabric support device 20 can be made movable by a ring 102 provided at the base 26.

FIG. 2 is a schematic top view of the device 20. In this figure, the sleeve support 24L can be rotated about an axis 91 on a stand 88 by the operation of a motor 96, and can be freely moved on the rail 78 by the operation of the motor 80 relative to the central body support 22, supporting the body. This shows that it can be combined with the body 22. In FIG. 2, reference numeral 21 indicates the approximate position where the worker puts on the body A and the sleeves B, and takes out the finished product. In addition, a sewing robot (which is known per se) equipped with a small sewing machine for sewing (
14) is generally located on the opposite side of the working position 21.

FIG. 3 is a partially cutaway sectional view showing a state in which the body support 22 and the sleeve support 24L are combined. Body support shaft 30
A machine frame 104 is fixed to. A shoulder width motor 106 is attached to this machine frame 104.

In the following description, the relationship between the left body bar 34 of the body support 22 and the left sleeve support 24L will be described;
The relationship between the right body bar 36 and the right sleeve support 24R is also substantially the same. A ball screw 110 is fixed to an output shaft protruding rightward from the shoulder width motor 106 via a joint 108. A ball nut 112 is screwed onto the screw 110. Further, an output shaft (not shown) projecting leftward from the motor 106 is provided with a ball screw and a pole nut cut in the opposite direction to the left and right of the ball screw 110.

The pole nut 112 is fixed in a protruding cylindrical portion 115 of a body bar connecting stand 114 as shown in FIG. An armhole motor 116 is fixed to this connecting base 114. The drive shaft of this motor 116 is connected to the connecting base 114.
A ball screw 120 is fixed via a joint 118 that is passed through the hole 113 of. A pole nut 122 is screwed into the screw 120. The nut 122 is secured within a hole 125 of an armhole link base 124 (FIG. 9). A hole 123 is provided above the chain hole 125 to receive the protruding cylindrical portion 115 of the body bar connecting base 114. The table 124 also has a pair of linear bearings 126 in the middle. The bearing 126 has the machine frame 1
A pair of fixings 1111128, one end of which is fixed to 04, are guided through holes 117 of body bar connecting base 114 and holes 127 of armhole link base 124. This causes the motors 106 and 116 to rotate, respectively.
Body bar connection stand 114 and armhole link stand 124
move independently and are in contact with and away from each other from the left and right sides of the machine frame 104. For example, 11 grooves are formed in the periphery of the body bar connecting table 114. These grooves have 11 links 129 (only one shown in Figure 3).
One end is pivoted. In addition, for example, 11 pairs of links 130, 1
32 (only one pair shown in FIG. 3) are pivoted at one end. The other ends of these links 129 and 130 and the other end of link 132 are pivotally supported to the left and right ends of a plate 133 fixed to body bar 34f. Of course, instead of the plate 133, it can also be pivoted directly to the body bar 34f. Therefore, when the motor 116 rotates, the link stand 124 separates from the connection stand 114, thereby expanding the body bars 34a to 34k.

As shown in FIG. 3, the sleeve bar movable base 6 of the sleeve support body 24L
A pole nut 134 that is screwed into the ball screw 68 is fixed to the ball screw 4. Further, a sleeve bar link stand 62 is fixed to the movable stand 64. The sleeve motor 13 is attached to the link stand 62.
6 is installation. A ball screw 140 is fixed to this motor 136. If necessary, a member such as a joint 108 can be used. A pole nut similar to the pole nut 112 is screwed into the ball screw 140, and this pole nut is fixed to the sleeve bar link plate 142. This plate 142 can move left and right along a guide shaft 146 whose one end is fixed to the sleeve bar link stand 62. This configuration is based on the armhole motor 1 of the body support 22.
It is substantially the same as the 16° armhole link stand 124.

However, as is clear to those skilled in the art, the joint 108 and the pole nut 112 are not essential parts, and the ball screw 110 is directly connected to the output shaft of the motor 106, and the screw 110 engages with a female thread provided on the body bar connecting base 114. You can do it like this. This is motor 116 and armhole link stand 1
24, and motor 136 and sleeve bar link plate 142
The same applies to etc.

For example, 11 grooves are formed around the sleeve bar link base 62 in the same way as the periphery of the body bar link base 114. Further, around both measuring portions of the sleeve bar link plate 142, for example, 11 pairs of grooves are formed similarly to the peripheral portion of the armhole link base 124. Each of these grooves has 11 links (
Only three links 137.138°139 are shown) and 1
A pair of links (one pair of links 144, 148 and only one link 147, 149 of the other two pairs shown)
It is pivoted at one end or by any suitable means. Among these links, links 137, 138, 139 and link 14
The other ends of the links 147, 148 and 149 are pivoted to the right and left ends of the plates 150, respectively. There are 11 plates 150 that connect the 11 pairs of links (for example, 144 and 148, etc.), and the left end of the plate is fixed to the sleeve bar 60, but the other end of the link is directly connected to the sleeve bar 60. It is also possible to lengthen the sleeve bar so that it pivots to the bar 60 and omit the plate 150.

When the sleeve motor 136 rotates, it moves the link plate 142 to the left and connects the sleeve bars 60a to 60a to 60a through the links 144, 148, etc. connected to the plate 142.
Expand 0k.

FIG. 4 is a partially enlarged view of FIG. 3. In this figure, the left end of the sleeve bar 60f is raised to appropriately support the sewn part of the sleeve B as a part, and an elastic material 152 such as rubber is attached to the outside thereof. The sleeve B attached to the sleeve support body 24 is guided so as to be held between the elastic material 152 and the sleeve support surface 34fa attached to the tip of the body bar 34f. When the air cylinder 38 (Fig. 1) operates in the position shown in Fig. 4, the body bar 34f
The wire 154 within the casing 42, held by the fastened stop, is pulled downward. Therefore, the wire 154 whose upper end is fixed to the clamp plate 158 is connected to the pin 15
6 rotates the clamp plate 158 pivoted to the body bar 34f counterclockwise against the force of the spring 160. However, when the air cylinder is deactivated, the clamp plate 158 returns clockwise around the pin 156 under the action of the spring 160. One end of a clamp needle 162 is pivotally attached to the clamp plate 158. Near the tip of the needle 162 is a pin 164, 1f3 attached to the body bar 34f.
Guided by 5 minutes. Therefore, when the clamp plate 158 is biased by the spring 160, the tip of the needle 162 traces a curve as indicated by a broken line 166, and the needle moves to the position indicated by 163. Note that the elastic material 15 in the portion where this locus 166 is formed
2 is a notch having a width of approximately 3 mm. Therefore, the clamp needle 162 penetrates into the sleeve B from the outside of the sleeve B, and presses and fixes the sleeve B against the sleeve support surface 34fa of the body bar 34f from the inside by the elastic force of the spring 160. Furthermore, the tip of the body bar is provided with a small hole (not shown) through which vacuum is supplied from vacuum pipes 58 and 58. This allows the sleeve B to be firmly held by the spring and vacuum.

A body positioning plate 168 is provided as body positioning means when attaching the body A to the body support 22.

A piston cylinder 170 is located inside the positioning plate 168.
are connected to each other, and the piston cylinder 170 can move the positioning plate 168 to the right in the direction of arrow 167 from the solid line position in FIG. Positioning is performed so that when the positioning plate 168 moves to the rightmost position, the outer end position of the positioning plate 168 aligns the cloth edge of the body A with the edge of the sleeve B. In this way, the distance from the fabric edges of the body and sleeves to the seam lines (Ωa, Ωb in Figure 12.13) can always be kept constant. This screw in Figure 5 shows the body support 22 and sleeve support 24.
This is a diagram showing the positional relationship from above before L or merging or leeing. The sleeve motor 136 rotates to a pre-taught value.

This rotation moves the sleeve bar link plate 142 to the left to a predetermined position. This movement causes the straight links (e.g., 147a, 147a') and curved links (e.g., 147b, 147b') pivotally supported on the left and right portions of the sleeve bar link plate 142 to expand outward, respectively. sleeve bars 80a and 60k are expanded outward from each other.

At the same time, the sleeve bar 60f shown in FIG. 3 expands upward.

The other sleeve bars similarly expand into a horseshoe shape. In this way, sleeves of different sizes can always be held securely by changing the distance in the longitudinal direction of the oval formed by one end of the sleeve bar.

On the other hand, the body support body 22 is connected to a pair of body bar connecting bases 114.
, 119 have cylinders 172 and 174, respectively, which are extendable and retractable in left and right opposite directions. 1 shilling each
72 , 174 have knuckles 176 , 178 at the tips of the piston rods that slide therein. The knuckles 176 , 178 have generally L-shaped actuating plates 180 , 1 .
One end of 82 is pivotally connected. 124, 1 of the actuating plate
It is pivoted to 24'. Preferably, one end of the curved links 188, 200 are simultaneously pivoted to this pivot point. A body bar 34k is pivotally attached to the other end of the straight link 184 and the curved link 188, and a body bar 36a is pivotally attached to the other end of the straight link 186 and the curved link 200. Also, these curved links 188°200 and body bar 34k
, 36a preferably includes a lever 202.
, 204 are pivoted at one end.

The other ends of these levers 202, 204 are pivotally connected to body bar connecting bases 114, 119. Said actuating plate 18
At 0°182, L-shaped interlocking links 208, 208
One end is pivoted. One ends of second actuating plates 210 and 212 are pivotally connected to the other ends of these interlocking links 206 and 208. These second actuating plates 210, 212
One end of the straight links 214, 21[3 is pivotally connected to the other end. Further, intermediate portions of the second actuating plates 210, 212 are pivotally supported to armhole link stands 124, 124'. Preferably, one ends of curved links 218 and 220 are simultaneously supported on the pivot point between the second actuating plate and the armhole link base. Preferably, one end of levers 222, 224 is pivoted to the straight link landing points. The other ends of these levers 222 and 224 are connected to the body bar connecting bases 114 and 119 by the levers 202 and 224, respectively.
It is pivotally mounted on the side opposite to the mounting side of 204.

With the above configuration, in the body support body 22, when the shoulder width motor 106 is driven, the body bar series connecting base 114.1
19 can move left and right respectively, and the armhole motor 1
When 16 is driven, armhole link stand 124, 1
24' can be moved left and right respectively. Accordingly, the body bars 34a to 34 and 36a to 36k can be respectively expanded and contracted in a horseshoe shape. In addition cylinder 172.1
74 is activated, at least the body bar 34a,
34k, 38a, 36 can be expanded further outward. This is because, for example, when the cylinder 172 is actuated and the knuckle 176 is moved to the right, the actuating plate 180 is rotated counterclockwise, and accordingly, the interlocking link 206 is moved to the second position.
Rotate the actuating plate 210 clockwise, and in this way the body bar 3
This is because 4a and 34k are expanded in a synchronous state.

In addition, armhole link stand 124° stand 124, 124
The relationship between body bars 34a to 34 and 36a to 36 with respect to body bar series 114 and 119 is as follows:
Sleeve bar link plate 142 of sleeve supports 24L and 24R
and each sleeve bar 60a to 80 for the sleeve bar link stand 62
The link structure is substantially equal to the relationship between . Therefore, similarly to the sleeve support 24, by changing the dimensions of the horseshoe shape formed by one end of the body bar in response to changes in body dimensions, bodies of different sizes can always be held securely. In addition, due to dimensional changes in the body support 22, the sleeve support 24
Dimension changes can always maintain a similar state, so the conditions when the two are combined remain constant even if the dimensions change.

6 is a schematic cross-sectional view taken along line VI-Vl in FIG. 3. FIG. From this figure, it can be seen that the sleeve bars 60a to 60k are arranged around the outer periphery of the sleeve bar link plate 142 in a horseshoe shape. More precisely, the sleeve bars 60C to 60i located at positions corresponding to the arc portions are movable approximately radially from the center in a direction substantially normal to the arc.

FIG. 10 is a control block diagram of the present device, which is mainly controlled by a host computer 320. That is, as shown in FIG. 14, a small sewing machine 323, which is known per se, is attached to the tip of the arm of the robot F.

The sewing operation of Chikara JX type sewing machine is controlled by the small sewing machine controller 3.
22. Further, the robot is controlled by a robot controller 321, and the movement locus of the small sewing machine 323 in three-dimensional space is controlled. The host computer 320 and robot controller 321 are connected via an R3-232C line, and signals are sent and received. Host computer 320 is connected to fabric support controller I/F board 325 via expansion board 324 . The board 32
From 5 onwards, address bus 326, control bus 327
, and the data bus 328 to each motor control driver board 329, air cylinder control driver 331, and sensor board 332.

The motor 334 is controlled by a signal from the origin SW333.

Further, it is determined whether some high-output motors 337 are motor drivers 336 or not. The foot 5W341 is a switch operated by the operator to operate the fabric support in stages.

Next, the operation of the device will be described.

Initially, the operator stands in the working position 21 of FIG.

The motors 96 of the left and right sleeve supports 24R and 24L are activated to direct the supports toward the operator. The shoulder portions of the left and right sleeves B are attached to the sleeve bars of the sleeve supports 24R and 24L. At this time, make sure that the sewn part of the shoulder opening of sleeve B is properly placed on the raised part of the tip of the sleeve bar (see Fig. 3). Sleeve motor 136
is driven to a position taught in advance according to the size of sleeve B, and sleeve bars 60a to 80k are expanded. This allows sleeve B
The shoulder part of the sleeve is firmly expanded and held by the sleeve bar. Next, turn on the left and right sleeve vacuums. As a result, vacuum is supplied from the vacuum pipe 98 via a conduit (not shown) to a small hole (not shown) provided at the tip of each of the left and right sleeve bars 60a to 80, thereby drawing the sleeve fabric to the surface of the bar. Therefore, the sleeve fabric is tightly attracted to the surface of the elastic material 152 attached to the bar surface, as shown in FIG. 3.

The left and right sleeve supports 24R124L are turned inward by the motor 96 so as to face each other. Motor 7o as required
is driven to adjust the vertical position of the sleeve support body 24. After that, the operation in the previous zero manufacturing process is completely completed, and the body support 2
Confirm that there is no work in progress in 2. The shoulder width motor 106 of the body support body 22 is driven, and the pre-swaging body bars 34a to 3
4, move 36a to 36k to a position corresponding to the shoulder width of body A. Next, the armhole motor 116 is driven, and the body bars 34a to 34 are provided with 38a to 36k.
Expand to the maximum expansion position.

The left and right sleeve moving motors 80 are driven to move the sleeve support body 24R12.
4L along the linear guide rail 78 to the body support 22
approach in the direction of. At this time, body bars 34a to 34,
Among 38a to 36, 34a, 34b and 34j.

34k; 36a, 38b and 36j, 36
Since k is in the movement path of sleeve B, cylinder 172,
174 and move these bars to the retracted position so that they do not interfere with the movement of sleeve B (see FIG. 5). The left and right sleeve supports 24R and 24L are connected to the body support 22 as shown in FIG.
However, body bars 34a to 3 that had been expanded to the maximum expanded position
4k.

36a to 36k are reduced to the taught positions according to the size of the preswaged body part A, so that the sleeve support surfaces 34aa to 34ka of each body bar surround the upper end opening of the sleeve B.

By loosening the wire 154, the clamp plate 158 attached to the body bar 34, 36 of the body support 22, which is normally located at the solid line in FIG. (Figure 4). The clamp needle attached to each clamp plate 158 moves from position 162 to position 163 in FIG.
Draw 66 and move.

As a result, the total number is 163. Sleeve B is sleeve bar 80a to 60k.
Then, the sleeves B are inserted into the body bars 34a to 34, and the sleeves B are pressed against each sleeve support surface of the body bars. A valve (not shown), which is known per se, is actuated to send vacuum through vacuum pipes 56, 58 and pipes (not shown) to small holes (not shown) provided in each sleeve support surface, and also to the sleeve support 24. Stop vacuuming. As a result, by driving the body motor 70 of the body support device 22 to open the upper end of the sleeve B,
The sleeve bar 60 and the sleeve bar movable base 64 move in the upper right direction in FIG. As a result, the sleeve support 24 is pulled away from the body support 22 to the position shown in FIG. 1 without contacting the sleeve B held by the body support 22. The upper ends of both sleeves B are now firmly supported by the tips of the body bars of the body support body 22.

Turn the body A inside out and attach it to the body support 22 by wrapping these sleeves from the upper side of both sleeves (first
(See Figure 4). The body is turned inside out in working position 2 in Figure 2.
The back part faces in one direction (so that the truncated conical support part 3
2. Position the collar. The body rotation motor 50 is rotated to rotate the body support 22 90 degrees clockwise, so that the vicinity of the seam line can be faced toward the working position, making it easy to perform correct positioning work when attaching the body. First, motor 5
0 by, for example, a foot switch (not shown), the body support 22 is rotated 90 degrees clockwise in FIG. 2, and the left sleeve side is directed toward the working position 21. In this state, arm work on the left sleeve is easy. The piston cylinder 170 is activated to move the body positioning plate 168 by a certain amount in the direction of the arrow 167. Therefore, the operator can obtain the optimum sewing position simply by aligning the tip of the temporary body positioning 168 with the tip of the armhole of the body A. In this way, the fabric weight portion Ωa of the body A and the sewn portion Ωb of the sleeve B are aligned. After this positioning is completed, turn on the vacuum at the left armhole to hold the body completely. Next, the motor 50 is activated to rotate the body support 22 counterclockwise by 180 degrees, and the right sleeve side is positioned toward the working position 21 in the same way as the left sleeve side, and the vacuum at the right armhole section is turned on. .

During this positioning work for the right sleeve side, the sewing position has now been determined and is placed opposite to the sewing robot F side. On the left sleeve side, at the same time as the positioning plate 168 retreats in the direction opposite to the arrow 167, sewing work is performed by the sewing machine 323 of the robot.

When the positioning of the right sleeve side is completed and the sewing work of the left sleeve is completed, the motor 50 is driven again, and the sleeve supports 24L and 24R are moved together with the body support body by the rotation of the motor 96 into the sleeve support body 24H shown in FIG. It rotates so as to face the operator's side 21 as shown in FIG. At the same time, the sleeve bar 60 is rotated by the rotation of the motor 80.
also moves in the direction approaching the worker side 21. Therefore, during the sewing operation of the robot, the operator can attach the sleeves to the left and right sleeve supports for the next process. When the sewing of the right sleeve is completed, the body support 22 is returned to the position shown in FIG. 2, the vacuum is stopped, and the jacket or the like having been sewn is taken out from the body support 22.

Effects of the Invention When the sleeve support that supported the sleeve is combined with the body support, the body bar of the body support located within the movement path of the sleeve support is moved out of the movement path of the sleeve support by the operation of an air cylinder. It is retracted and returned to the movement path when not in operation, and when returned, the body bar can be expanded or contracted by moving the armhole link base.

Further, since it can be combined with the body support body in conjunction with the actuating plate that constitutes the body bar mechanism, it is only necessary to move the shortest distance. The overall cycle time is therefore reduced.

Furthermore, a plurality of body bars each having a body support surface that supports the seam line of the body and a sleeve support surface that supports the sleeve seam line are provided to support the body and the sleeves. The seam line is always supported in a constant positional relationship even when it changes due to size, improving the quality of the sewing product.

A clamp needle that penetrates the sleeve from the outside of the sleeve and supports the sleeve by pressing it against the sleeve support surface on the side is provided on the sleeve support surface of the body bar that supports the sleeve. After fixing, the sleeve bar can be shrunk and retracted, making it easy for a sewing machine to enter and make zero-manufacturing possible. Furthermore, by fixing the sleeve with the clamp needle, the sleeve is stably and reliably supported and fixed on the sleeve support surface, so that it does not move during sewing, thereby improving the quality of the finished product.

Furthermore, compared to known sleeve supports, especially including the sewn seams,
The support surface extends to the edge of the fabric, making positioning easier.

The sleeve bars are arranged in a horseshoe shape, and are expanded and contracted as the sleeve motor rotates.The arcuate portions of the horseshoe shape are arranged in the normal direction, and the straight portions are arranged in the orthogonal direction. Since we made it move, we can expand multiple sleeve bars with one motor.

Despite being reduced, it now fits even if the size changes. Therefore, teaching has become much easier. In addition, when expanding or contracting due to changes in the size of the body bar, the sleeve bar of the sleeve support body can expand or contract while maintaining a similar shape.
Because of the reduction, when the body support and the sleeve support are combined, each bar can always maintain a constant positional relationship, so that a smooth combination can always be obtained.

[Brief explanation of the drawing]

FIG. 1 is a schematic front view of the fabric support device of the invention, and FIG. 2 is a schematic top view of FIG. 1, with one sleeve support facing the working position and the other sleeve support facing the body support. Figure 3 is a partially cutaway side view showing the combined state of the body support and sleeve support, Figure 4 is a partially enlarged view of Figure 3, and Figure 5 is the body support. A partially cut-away top view of one sleeve support just before it is joined to the body, FIG. 6 is a view taken along the VI-VT arrow in FIG. 3, and FIG. 7 is a view taken along the ■-■ arrow in FIG. Fig. 8 is a perspective view of the body bar connection stand, Fig. 9 is a perspective view of the armhole link stand, Fig. 10 is a schematic control diagram of the device of the present invention, Fig. 11 is a front view of a known fabric support device, and Fig. 12. 13 is a diagram showing the body, FIG. 13 is a diagram showing the sleeve, and FIG. 14 is a diagram showing the fabric support device and the alternating robot. Description of drawings A: Body B: Sleeve C: Fabric support device D: Sleeve support portion E: Body support portion F: Robot 2 fabric support device
22: Body support 24: Sleeve support 34
: Body bar 34fa : Sleeve support surface 36 : Body bar 50 : Body rotation motor 60 : Sleeve bar 62
: Sleeve bar link stand 80: Sleeve moving motor 96: Motor 106: Shoulder width motor 114.11
9: Body bar connection stand 116, near armhole motor 124.124': Armhole link stand 136:
Sleeve motor 142: Sleeve bar link plate 162.163: Clamp needle 172.174
Niji cylinder 180.1g2: Actuation plate 206.208: Interlocking link 210.212: Second actuation plate Patent applicant Director of the Agency of Industrial Science and Technology Kozo Iizuka' Figure 6 'Moq Figure 7 Figure 8 Figure 9 Figure 11 Figure 12 Figure 13

Claims (3)

[Claims] (1) A sewing device that transfers a sleeve attached to a sleeve supporter to a body supporter, transfers the sleeve to the body supporter, attaches the bodypiece to the body supporter, and sews the sleeve and the body together, , the body support body is a plurality of body bars having an armhole link base operated by the rotation of a motor and a link mechanism that expands and contracts as the link base moves, and the sleeve support supports the sleeves. a body bar whose tip is located within the moving path of the body, and the body bar located within the moving path is configured to include a cylinder and an actuating plate responsive to the cylinder, so that when the cylinder is operated, the body bar's tip is The sewing device is characterized in that the part is retracted outside the movement path, returns to the movement path during non-operation, and expands and contracts in accordance with the movement of the armhole link stand when returning. (2) The body support body has a body support surface that supports the vicinity of the seam line of the body body, and a sleeve support surface that supports the vicinity of the seam line of the sleeve;
A plurality of body bars are provided to support the body and sleeves, and a clamp needle enters the sleeve support surface from the outside of the sleeve and penetrates the sleeve, and a clamp needle that enters the sleeve support surface from the outside of the sleeve and penetrates the sleeve, the side surface of which clamps the sleeve to the sleeve support surface. 2. The sewing device according to claim 1, further comprising a clamp needle that is supported and fixed so as to be pressed against the clamp needle. (3) the sleeve support body has a plurality of sleeve bars including a support surface that supports the sleeves and a link mechanism arranged in a horseshoe shape so as to expand and contract as the sleeve motor rotates; 2. The sewing device according to claim 1, wherein the arcuate portion of the horseshoe shape is movable in a normal direction thereof, and the straight portion is movable in a direction orthogonal thereto.